Revision 13:6a4969d25627, committed 2021-09-14

Comitter:

anfontanelli

Date:

Tue Sep 14 12:09:42 2021 +0000

Parent:

11:04d8899b5d82

Commit message:

A

Changed in this revision

--- a/RoboClaw.cpp	Wed Nov 06 10:57:21 2019 +0000
+++ b/RoboClaw.cpp	Tue Sep 14 12:09:42 2021 +0000
@@ -5,14 +5,14 @@
 #define SetDWORDval(arg) (uint8_t)(arg>>24),(uint8_t)(arg>>16),(uint8_t)(arg>>8),(uint8_t)arg
 #define SetWORDval(arg) (uint8_t)(arg>>8),(uint8_t)arg
 
-RoboClaw::RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx) : _roboclaw(rx, tx){
+RoboClaw::RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx, double _read_timeout) : _roboclaw(rx, tx){
     _roboclaw.set_baud(baudrate);//_roboclaw.baud(baudrate);
        
     rx_in = 0;
     address = adr;
-    readTime = 0.0;
-    readTimer.start();
-    read_timeout = 2.0;
+    //readTime = 0.0;
+    //readTimer.start();
+    read_timeout = _read_timeout;
     
 }
 
@@ -148,7 +148,7 @@
     }else{
         //printf("crc: %x \r\n", crc_get());
         //printf("received crc: %x \r\n", received_crc);
-        printf("err \r\n");
+        //printf("err \r\n");
 
 
         return false;        

--- a/RoboClaw.h	Wed Nov 06 10:57:21 2019 +0000
+++ b/RoboClaw.h	Tue Sep 14 12:09:42 2021 +0000
@@ -23,7 +23,7 @@
 public:
     /** Create RoboClaw instance
     */
-    RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx);
+    RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx, double _read_timeout);
     
     /** Forward and Backward functions
     * @param address address of the device
@@ -108,9 +108,9 @@
     char rx_buffer[7];
     // Circular buffer pointers
     // volatile makes read-modify-write atomic 
-    Timer readTimer;
-    double readTime;
-    double readTimePrec;
+    //Timer readTimer;
+    //double readTime;
+    //double readTimePrec;
     volatile int rx_in;
     double read_timeout;
     // Line buffers for sprintf and sscanf

--- a/UARTserial_mio/UARTSerial_mio.cpp	Wed Nov 06 10:57:21 2019 +0000
+++ b/UARTserial_mio/UARTSerial_mio.cpp	Tue Sep 14 12:09:42 2021 +0000
@@ -257,7 +257,7 @@
 
     api_lock();
 
-    while (_rxbuf.size()!=length) {
+    while (_rxbuf.size()!=length && tm<=timeout) {
         if (!_blocking) {
             api_unlock();
             return -EAGAIN;
@@ -270,10 +270,11 @@
     }
     
     //printf("tm: %f\r\n",tm);
-
-    while (data_read < length && !_rxbuf.empty()) {
+    tm = 0.0;
+    while (data_read < length && !_rxbuf.empty()  && tm<=timeout) {
         _rxbuf.pop(*ptr++);
         data_read++;
+        tm = tm + 0.001; //10/1000
     }
 
     core_util_critical_section_enter();